Newer
Older
Author: Kelsey Hawkins
Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find ur_description)/urdf/ur10.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
<xacro:include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<property name="scale" value="0.001 0.001 0.001" />
<property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
<property name="shoulder_mass" value="7.778" />
<property name="upper_arm_mass" value="12.93" />
<property name="forearm_mass" value="3.87" />
<property name="wrist_1_mass" value="1.96" />
<property name="wrist_2_mass" value="1.96" />
<property name="wrist_3_mass" value="0.202" />
<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
<property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
<property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
<property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
<property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
<property name="wrist_3_cog" value="0 -0.001156 -0.00149" />
<!-- Properties from urcontrol.conf -->
<property name="ur10_d1" value="0.1273" />
<property name="ur10_a2" value="-0.612" />
<property name="ur10_a3" value="-0.5723" />
<property name="ur10_d4" value="0.163941" />
<property name="ur10_d5" value="0.1157" />
<property name="ur10_d6" value="0.0922" />
<!-- Arbitrary offsets for shoulder/elbow joints -->
<property name="shoulder_offset" value="0.220941" /> <!-- measured from model -->
<property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
<!-- link lengths used in model -->
<property name="shoulder_height" value="${ur10_d1}" />
<property name="upper_arm_length" value="${-ur10_a2}" />
<property name="forearm_length" value="${-ur10_a3}" />
<property name="wrist_1_length" value="${ur10_d4 - elbow_offset - shoulder_offset}" />
<property name="wrist_2_length" value="${ur10_d5}" />
<property name="wrist_3_length" value="${ur10_d6}" />
Wim Meeussen
committed
<xacro:macro name="ur10_robot" params="prefix">
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="${pi / 2.0} 0.0 0.0" />
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="${pi / 2.0} 0.0 0.0" />
</collision>
<inertial>
<mass value="${base_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="${scale}"/>
</geometry>
<origin rpy="${pi / 2.0} 0.0 0.0" xyz="0.0 0.0 -0.127"/> <!-- -0.127 ???? -->
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="${scale}"/>
</geometry>
<origin rpy="${pi / 2.0} 0.0 0.0" xyz="0.0 0.0 -0.127"/> <!-- -0.127 ???? -->
</collision>
<inertial>
<mass value="${shoulder_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.221 -0.127" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset-->
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.221 -0.127" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset-->
</collision>
<inertial>
<mass value="${upper_arm_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}forearm_link" />
<origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.049 -0.739" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.049 -0.739" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
</collision>
<inertial>
<mass value="${forearm_mass}" />
<origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_1_joint" type="revolute">
<parent link="${prefix}forearm_link" />
<child link = "${prefix}wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${prefix}wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.049 -1.312" rpy="${pi / 2.0} 0 0.0" /> <!-- new offset -->
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.049 -1.312" rpy="${pi / 2.0} 0 0.0" /> <!-- new offset -->
</collision>
<inertial>
<mass value="${wrist_1_mass}" />
<origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
<child link = "${prefix}wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${prefix}wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.164 -1.312" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.164 -1.312" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
</collision>
<inertial>
<mass value="${wrist_2_mass}" />
<origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
<child link = "${prefix}wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.164 -1.427" rpy="${pi / 2.0} 0.0 0" /> <!-- new offset -->
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="${scale}"/>
</geometry>
<origin xyz="0.0 -0.164 -1.427" rpy="${pi / 2.0} 0.0 0" /> <!-- new offset -->
</collision>
<inertial>
<mass value="${wrist_3_mass}" />
<origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
<link name="${prefix}ee_link" />
<xacro:ur10_arm_transmission prefix="${prefix}" />
<xacro:ur10_arm_gazebo prefix="${prefix}" />
Wim Meeussen
committed